DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 194 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  143 HEADING  -1 ROLL_MIN  290 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  10 ESCAPE_HEADING  100 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  5
DIVE  194 ESCAPE_HEADING_DELTA  5 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  1.8
D_SURF  2 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  300
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  1950 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  5900 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  4
D_NO_BLEED  50 SM_CC  325 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  18 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  20 XPDR_INHIBIT  90
D_PITCH  1.75 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  500 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  3 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  10 N_NOCOMM  0 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  5 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  10 UPLOAD_DIVES_MAX  5 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  3 C_VBD  2800 DEVICE2  20
T_MISSION  420 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  3 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -33585.746 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.1 T_RSLEEP  60 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  0 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  16
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  127 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4070 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2690 FG_AHR_24V  0 SEABIRD_T_G  0.0043131942
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062854384
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_YINT  -24.446302 SEABIRD_T_I  2.3348166e-05
MASS  51204 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001163694 SEABIRD_T_J  2.4454023e-06
NAV_MODE  0 PITCH_GAIN  31 AD7714Ch0Gain  128 SEABIRD_C_G  -10.029707
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1484355
KALMAN_USE  2 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0010294267
HD_A  0.0038360001 PITCH_MAXERRORS  1 COMPASS_USE  1 SEABIRD_C_J  0.00016845814
HD_B  0.010078 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.8541004e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  003024,6703.330,-5724.177,30,1.3,48,-37.7 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  18 TGT_RADIUS  10000.000
_XMS_TOUTs  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.33 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  003755,6703.293,-5724.114,11,1.7,14,-37.7 MHEAD_RNG_PITCHd_Wd  292.7,137774,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  816

Post-dive calculations and measurements:
FREEZE  0.46,0.018,-1.338,0,1,0 ALTIM_TOP_PING  19.9,19.3
FINISH  0.5,1.019734 ALTIM_BOTTOM_PING  802.3,10.4
SM_CCo  16710,57.33,0.750,0,0,1474,325.02 _24V_AH  22.7,43.707
SM_GC  1.28,0.00,0.00,57.33,0.000,0.000,0.750,130,2473,1474,-8.00,0.37,325.02 _10V_AH  10.2,22.399
RAFOS_CLK  1081 FG_AHR_24Vo  0.000
RAFOS  3,1259108705,0.433333,0.418056,61,58,56,0,0,0,217,187,137,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6702.153320,-5733.967773,251109,040454,3,82,0.52 MEM  152556
IRIDIUM_FIX  6636.54,-5715.22,180299,202022 DATA_FILE_SIZE  56828,1431
TT8_MAMPS  0.028379 CAP_FILE_SIZE  188246,0
HUMID  49.21 CFSIZE  260165632,234905600
INTERNAL_PRESSURE  8.90659 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  17.50 SOUNDSPEED  1463.9
XPDR_PINGS  6 GPS  251109,051932,6702.275,-5728.878,52,1.0,52,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24299169.34 SBE_CT104724570.56
Roll_motor191103450.88 SBE_O2100319432.59
VBD_pump_during_apogee33212859693.82 nil000.00
VBD_pump_during_surface57750976.12 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510359.77 nil000.00
Iridium_during_connect31160116.15 nil000.00
Iridium_during_xfer2702231371.03
Transponder_ping542050.05
GUMSTIX_24V000.00
GPS16508.26
TT8251919511.83
LPSleep111652263.08
TT8_Active57519116.89
TT8_Sampling239039973.51
TT8_CF857045267.20
TT8_Kalman000.00
Analog_circuits183312224.39
GPS_charging000.00
Compass23408190.95
RAFOS3240149.57
Transponder30309.31

Guidance and control:
st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -94.32 0.000 2 0.000 0.000 128 2466 3135 0 0 0 0 0 0
117 -0.73 -146.0 3.7 -7.6 19 143 11.35 2.65 -6.38 0.000 4 0.300 0.104 2445 3911 3398 0 0 0 0 0 0
352 -0.64 -146.0 40.1 -12.1 61 358 0.15 2.47 0.00 0.000 6 0.212 0.064 2481 2455 3401 0 0 0 0 0 0
698 -0.69 -146.0 76.8 -9.8 122 703 0.00 2.58 0.00 0.000 4 0.000 0.090 2480 3907 3401 0 0 0 0 0 0
878 -0.76 -146.0 93.8 -9.2 154 884 0.12 2.42 0.00 0.000 6 0.117 0.064 2439 2477 3401 0 0 0 0 0 0
1206 -0.71 -146.0 128.9 -11.0 190 1208 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2477 3400 0 0 0 0 0 0
1526 -0.66 -146.0 163.2 -11.0 220 1531 0.15 2.55 0.00 0.000 4 0.204 0.087 2465 3915 3400 0 0 0 0 0 0
1581 -0.73 -146.0 169.1 -10.2 224 1587 0.00 2.42 0.00 0.000 6 0.000 0.062 2465 2469 3400 0 0 0 0 0 0
1906 -0.77 -146.0 199.5 -9.1 255 1908 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2469 3400 0 0 0 0 0 0
2226 -0.83 -146.0 228.5 -8.5 285 2231 0.12 2.55 0.00 0.000 4 0.118 0.087 2413 3911 3401 0 0 0 0 0 0
2293 -0.72 -146.0 235.7 -10.7 290 2299 0.17 2.40 0.00 0.000 6 0.209 0.062 2453 2473 3401 0 0 0 0 0 0
2619 -0.72 -146.0 264.9 -8.7 321 2623 0.00 2.53 0.00 0.000 4 0.000 0.087 2453 3912 3401 0 0 0 0 0 0
2680 -0.72 -146.0 270.6 -9.0 326 2684 0.00 2.38 0.00 0.000 6 0.000 0.062 2454 2495 3400 0 0 0 0 0 0
3005 -0.72 -146.0 299.8 -9.2 356 3010 0.00 2.47 0.00 0.000 4 0.000 0.088 2453 3912 3401 0 0 0 0 0 0
3050 -0.77 -146.0 303.9 -9.0 360 3054 0.00 2.38 0.00 0.000 6 0.000 0.061 2453 2491 3401 0 0 0 0 0 0
3374 -0.82 -146.0 334.1 -9.6 390 3378 0.00 2.50 0.00 0.000 4 0.000 0.087 2454 3916 3401 0 0 0 0 0 0
3406 -0.87 -146.0 337.4 -9.6 392 3413 0.15 2.35 0.00 0.000 6 0.109 0.061 2404 2513 3401 0 0 0 0 0 0
3731 -0.76 -146.0 374.4 -11.6 423 3736 0.15 2.47 0.00 0.000 4 0.207 0.084 2428 3916 3402 0 0 0 0 0 0
3786 -0.76 -146.0 380.6 -10.8 427 3792 0.00 2.33 0.00 0.000 6 0.000 0.059 2428 2515 3402 0 0 0 0 0 0
4111 -0.76 -146.0 413.0 -9.9 458 4115 0.00 2.45 0.00 0.000 4 0.000 0.086 2428 3915 3402 0 0 0 0 0 0
4165 -0.76 -146.0 418.4 -10.3 462 4171 0.00 2.35 0.00 0.000 6 0.000 0.060 2428 2532 3402 0 0 0 0 0 0
4490 -0.76 -146.0 448.8 -9.4 493 4494 0.00 2.42 0.00 0.000 4 0.000 0.085 2428 3919 3402 0 0 0 0 0 0
4551 -0.76 -146.0 454.7 -9.8 498 4555 0.00 2.30 0.00 0.000 6 0.000 0.061 2428 2540 3402 0 0 0 0 0 0
4875 -0.76 -146.0 483.9 -8.7 528 4879 0.00 2.40 0.00 0.000 4 0.000 0.087 2428 3910 3402 0 0 0 0 0 0
4908 -0.76 -146.0 486.9 -9.2 531 4912 0.00 2.28 0.00 0.000 6 0.000 0.061 2428 2550 3402 0 0 0 0 0 0
5232 -0.76 -146.0 515.0 -8.5 561 5233 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2551 3402 0 0 0 0 0 0
5552 -0.76 -146.0 542.1 -8.8 591 5553 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2551 3403 0 0 0 0 0 0
5870 -0.76 -146.0 569.1 -8.3 621 5874 0.00 2.40 0.00 0.000 4 0.000 0.087 2428 3915 3402 0 0 0 0 0 0
5891 -0.76 -146.0 571.1 -8.9 622 5897 0.00 2.28 0.00 0.000 6 0.000 0.061 2428 2555 3402 0 0 0 0 0 0
6217 -0.76 -146.0 599.2 -8.8 653 6222 0.00 2.70 0.00 0.000 4 0.000 0.080 2428 866 3402 0 0 0 0 0 0
6240 -0.71 -146.0 601.6 -9.9 654 6247 0.12 2.70 0.00 0.000 6 0.223 0.073 2454 2554 3402 0 0 0 0 0 0
6553 -0.80 -146.0 626.2 -7.8 665 6557 0.00 2.38 0.00 0.000 4 0.000 0.089 2454 3912 3401 0 0 0 0 0 0
6592 -0.88 -146.0 629.6 -8.2 666 6597 0.15 2.28 0.00 0.000 6 0.110 0.061 2404 2554 3401 0 0 0 0 0 0
6917 -0.80 -146.0 660.9 -9.9 677 6918 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2554 3401 0 0 0 0 0 0
7221 -0.71 -146.0 690.3 -9.5 687 7226 0.20 2.40 0.00 0.000 4 0.202 0.087 2452 3908 3401 0 0 0 0 0 0
7249 -0.71 -146.0 692.7 -8.3 688 7253 0.00 2.28 0.00 0.000 6 0.000 0.062 2452 2557 3401 0 0 0 0 0 0
7590 -0.79 -146.0 719.7 -8.0 699 7594 0.00 2.70 0.00 0.000 4 0.000 0.081 2452 873 3401 0 0 0 0 0 0
7617 -0.79 -146.0 722.2 -8.4 700 7622 0.00 2.70 0.00 0.000 6 0.000 0.074 2452 2560 3401 0 0 0 0 0 0
7953 -0.86 -146.0 748.6 -7.7 711 7958 0.12 2.38 0.00 0.000 4 0.114 0.088 2397 3909 3401 0 0 0 0 0 0
8002 -0.75 -146.0 753.5 -10.5 712 8007 0.20 2.25 0.00 0.000 6 0.208 0.064 2443 2566 3401 0 0 0 0 0 0
8321 -0.80 -146.0 779.4 -8.0 723 8325 0.00 2.72 0.00 0.000 4 0.000 0.082 2443 876 3401 0 0 0 0 0 0
8348 -0.80 -146.0 781.6 -8.3 724 8353 0.00 2.70 0.00 0.000 6 0.000 0.074 2443 2556 3401 0 0 0 0 0 0
8623 end dive: BOTTOM_OBSTACLE_DETECTED
state 8623 begin apogee
8629 -0.16 0.0 802.3 7.4 733 8755 0.68 0.00 123.07 1.285 6 0.179 0.000 2631 1954 2800 0 0 0 0 0 0
8757 end apogee: CONTROL_FINISHED_OK
state 8757 begin climb
8759 0.73 146.0 805.4 0.0 737 8895 0.95 2.88 127.95 1.225 4 0.134 0.090 2921 370 2203 0 0 0 0 0 0
8911 0.73 146.0 795.0 9.9 742 8916 0.00 2.70 0.00 0.000 6 0.000 0.065 2921 1949 2200 0 0 0 0 0 0
9248 0.68 146.0 758.9 10.9 753 9253 0.00 2.83 0.00 0.000 4 0.000 0.082 2922 3546 2195 0 0 0 0 0 0
9297 0.57 146.0 752.8 12.5 754 9303 0.22 2.78 0.00 0.000 6 0.191 0.070 2881 1954 2194 0 0 0 0 0 0
9610 0.66 154.0 724.8 8.8 764 9618 0.00 0.00 6.43 0.981 6 0.000 0.000 2881 1954 2173 0 0 0 0 0 0
9916 0.74 154.0 696.9 9.2 774 9921 0.15 2.80 0.00 0.000 4 0.111 0.083 2930 3547 2171 0 0 0 0 0 0
9988 0.61 154.0 687.7 13.1 776 9994 0.22 2.75 0.00 0.000 6 0.194 0.072 2889 1948 2170 0 0 0 0 0 0
10312 0.67 154.0 656.0 9.7 787 10316 0.00 2.78 0.00 0.000 4 0.000 0.083 2889 3548 2170 0 0 0 0 0 0
10349 0.67 154.0 652.0 10.5 788 10354 0.00 2.70 0.00 0.000 6 0.000 0.071 2899 1973 2169 0 0 0 0 0 0
10680 0.73 154.0 619.2 9.9 799 10684 0.00 2.72 0.00 0.000 4 0.000 0.084 2899 3540 2169 0 0 0 0 0 0
10717 0.73 154.0 615.0 11.8 800 10721 0.00 2.67 0.00 0.000 6 0.000 0.071 2911 1979 2169 0 0 0 0 0 0
11045 0.73 154.0 580.9 10.5 822 11049 0.00 2.60 0.00 0.000 4 0.000 0.091 2922 359 2169 0 0 0 0 0 0
11065 0.73 154.0 578.6 9.8 823 11071 0.00 2.55 0.00 0.000 6 0.000 0.069 2922 1995 2169 0 0 0 0 0 0
11390 0.73 154.0 543.8 10.3 854 11394 0.00 2.67 0.00 0.000 4 0.000 0.085 2922 3545 2168 0 0 0 0 0 0
11445 0.63 154.0 537.4 11.2 858 11451 0.15 2.65 0.00 0.000 6 0.195 0.072 2900 1990 2168 0 0 0 0 0 0
11769 0.69 154.0 507.0 9.7 889 11774 0.00 2.70 0.00 0.000 4 0.000 0.085 2900 3543 2168 0 0 0 0 0 0
11790 0.69 154.0 504.8 10.2 890 11796 0.00 2.62 0.00 0.000 6 0.000 0.072 2910 2003 2167 0 0 0 0 0 0
12115 0.69 154.0 472.1 10.1 921 12119 0.00 2.67 0.00 0.000 4 0.000 0.085 2910 3541 2168 0 0 0 0 0 0
12154 0.69 154.0 467.8 11.1 924 12158 0.00 2.60 0.00 0.000 6 0.000 0.073 2922 2022 2168 0 0 0 0 0 0
12479 0.69 154.0 432.3 11.1 954 12480 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2023 2168 0 0 0 0 0 0
12796 0.69 154.0 397.3 10.8 984 12801 0.00 2.65 0.00 0.000 4 0.000 0.087 2922 3542 2168 0 0 0 0 0 0
12828 0.62 154.0 393.5 11.6 986 12835 0.17 2.58 0.00 0.000 6 0.190 0.073 2892 2035 2168 0 0 0 0 0 0
13153 0.71 154.0 363.6 9.4 1017 13158 0.00 2.70 0.00 0.000 4 0.000 0.093 2902 360 2168 0 0 0 0 0 0
13192 0.77 154.0 359.9 9.5 1020 13197 0.10 2.62 0.00 0.000 6 0.138 0.071 2934 2038 2168 0 0 0 0 0 0
13516 0.77 154.0 324.0 11.4 1050 13520 0.00 2.60 0.00 0.000 4 0.000 0.086 2934 3543 2168 0 0 0 0 0 0
13577 0.66 154.0 316.5 12.7 1055 13582 0.17 2.58 0.00 0.000 6 0.194 0.074 2905 2037 2167 0 0 0 0 0 0
13901 0.67 163.1 285.0 8.8 1085 13916 0.00 2.72 8.38 0.874 4 0.000 0.093 2915 365 2134 0 0 0 0 0 0
13923 0.72 169.2 283.2 8.9 1087 13937 0.00 2.62 6.88 0.821 6 0.000 0.071 2915 2048 2110 0 0 0 0 0 0
14263 0.73 177.5 253.0 8.8 1119 14277 0.00 2.62 8.40 0.861 4 0.000 0.086 2915 3536 2076 0 0 0 0 0 0
14299 0.73 177.5 249.5 10.0 1122 14305 0.00 2.58 0.00 0.000 6 0.000 0.074 2926 2039 2075 0 0 0 0 0 0
14624 0.73 177.5 216.3 10.2 1153 14625 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2040 2074 0 0 0 0 0 0
14945 0.73 177.5 182.9 10.4 1183 14949 0.00 2.62 0.00 0.000 4 0.000 0.086 2926 3540 2074 0 0 0 0 0 0
15010 0.73 177.5 175.1 11.5 1188 15016 0.00 2.58 0.00 0.000 6 0.000 0.074 2938 2041 2072 0 0 0 0 0 0
15335 0.73 177.5 138.2 11.2 1219 15340 0.00 2.72 0.00 0.000 4 0.000 0.092 2950 355 2072 0 0 0 0 0 0
15373 0.73 177.5 133.7 11.4 1222 15378 0.00 2.65 0.00 0.000 6 0.000 0.071 2950 2043 2072 0 0 0 0 0 0
15699 0.73 177.5 96.5 10.3 1255 15705 0.00 2.75 0.00 0.000 4 0.000 0.092 2962 355 2072 0 0 0 0 0 0
15767 0.68 177.5 88.7 11.4 1267 15773 0.20 2.60 0.00 0.000 6 0.185 0.070 2913 2019 2072 0 0 0 0 0 0
16112 0.93 239.9 59.7 6.5 1328 16169 0.22 2.75 51.10 0.797 4 0.098 0.084 2990 3540 1820 0 0 0 0 0 0
16203 0.83 239.9 49.5 12.8 1345 16210 0.17 2.60 0.00 0.000 6 0.193 0.073 2962 2049 1818 0 0 0 0 0 0
16549 0.83 239.9 14.3 9.7 1406 16555 0.00 2.75 0.00 0.000 4 0.000 0.091 2972 363 1813 0 0 0 0 0 0
16623 0.83 239.9 5.2 12.9 1419 16629 0.00 2.65 0.00 0.000 6 0.000 0.067 2972 2045 1812 0 0 0 0 0 0
16669 end climb: SURFACE_DEPTH_REACHED
state 16669 begin surface coast
16693 end surface coast: CONTROL_FINISHED_OK
state 16693 begin surface